Omni-directional movement chassis and AGV equipment

Abstract

The omni-directional movement chassis comprises a chassis body and driving structures, and a plurality of driving structures and a plurality of universal wheels are arranged at the bottom of the chassis body; the plurality of driving structures and the plurality of universal wheels are arranged at four corners of the bottom of the chassis main body; the plurality of driving structures are diagonally arranged, and the plurality of universal wheels are diagonally arranged; the driving structure comprises a pre-pressing mechanism and a driving mechanism; the bottom end of the pre-pressing mechanism is installed at the top end of the driving mechanism, and the top end of the pre-pressing mechanism is installed at the bottom of the chassis body. The pre-pressing mechanism has a pushing and pressing state that the driving mechanism is pushed to move in the direction away from the chassis body so as to abut against the ground. By means of the structure, the whole chassis body is still in a four-corner supporting state, and the situation that under the unbalance loading condition, only three-point supporting occurs, and consequently transportation problems occur is effectively prevented; and the bumping phenomenon in the transportation process is reduced. Slipping is prevented, and the walking process is stable, safe and reliable.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV equipment, in particular to an omnidirectional motion chassis and AGV equipment. Background Art

[0002] AGVs are a key component of automated material handling systems in factories and warehouses. Numerous AGVs are used in production processes, demonstrating their efficiency, speed, and flexibility. The AGV chassis is its core foundation, and its form determines its movement.

[0003] The existing AGV automatic guided transport vehicle has a chassis with one set of drives that can move forward and backward, and a chassis with two sets of drives that can achieve omnidirectional movement. There are two forms of one chassis: one is a spring suspension plus 4 auxiliary wheels. In this way, the load should not be too large. When it is too large, the driving force provided by the spring is constant, and it cannot drive the working condition with excessive load; the other is two sets of drives arranged diagonally, plus two auxiliary wheels arranged at the other diagonal position, and then the drive and auxiliary wheels on one side are fixed to the chassis through a hinge in the middle. This method cannot be used in working conditions with unbalanced loads; and the diagonal arrangement of the two sets of drives has high requirements on the flatness of the ground on which the AGV travels. When there is a large drop in the ground, the universal wheels at the four corners will overhang the two double steering wheels, resulting in insufficient power for the AGV equipment. Utility Model Content

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the problem of two sets of drive arranged diagonally, plus two auxiliary wheels arranged at another diagonal position, and then the drive and auxiliary wheels on one side are fixed to the chassis through a hinge in the middle. This method cannot be used in working conditions with unbalanced loads; and the two sets of drive arranged diagonally have high requirements on the flatness of the ground where the AGV travels. When there is a large drop in the ground, the universal wheels at the four corners will suspend the two double steering wheels, resulting in the defect of insufficient power for the AGV equipment.

[0005] To this end, the present invention provides an omnidirectional motion chassis, comprising:

[0006] A chassis body, wherein a plurality of drive structures and a plurality of universal wheels are provided at the bottom of the chassis body; the plurality of drive structures and the plurality of universal wheels are arranged at four corners at the bottom of the chassis body; the plurality of drive structures are arranged diagonally, and the plurality of universal wheels are arranged diagonally;

[0007] Among them, the driving structure includes: a pre-stressing mechanism and a driving mechanism; the bottom end of the pre-stressing mechanism is installed on the top end of the driving mechanism, and the top end of the pre-stressing mechanism is installed on the bottom of the chassis body; the pre-stressing mechanism has a pushing state that pushes the driving mechanism to move in a direction away from the chassis body to abut against the ground.

[0008] Optionally, the above-mentioned pre-pressing mechanism includes:

[0009] a first support plate, the first support plate being adapted to be mounted on the bottom of the chassis body;

[0010] a second support plate, the second support plate being adapted to be mounted on the bottom of the first support plate;

[0011] an elastic member, one end of which is connected to the first support plate, and the other end of which is suitable for being mounted on the driving mechanism;

[0012] A guide shaft, one end of which is fixed on the first supporting plate.

[0013] Optionally, the driving mechanism includes:

[0014] A driving support plate, wherein a guide sleeve is provided on the driving support plate corresponding to the guide shaft, and the guide shaft can be inserted into the guide sleeve;

[0015] A slewing support, the slewing support being mounted on a side of the driving support plate away from the first support plate; a mounting bracket being provided on the side of the slewing support away from the driving support plate;

[0016] Driving wheels, two of which are provided, and the two driving wheels are respectively arranged on both sides of the mounting frame;

[0017] Wherein, two driving assemblies are installed on the mounting frame corresponding to the two driving wheels, and the driving assemblies are used to drive the driving wheels to rotate.

[0018] Optionally, a first gear is coaxially provided on the inner side of the driving wheel;

[0019] The drive assembly includes:

[0020] a driving member, the driving member being arranged on the mounting frame;

[0021] A reduction gearbox, the reduction gearbox being mounted on the mounting frame, one end of the reduction gearbox being connected to the output end of the driving member, and the other end of the reduction gearbox being connected to the second gear;

[0022] A conveying chain is sleeved on the first gear and the corresponding second gear.

[0023] Optionally, the elastic members are provided in plurality, and the plurality of elastic members are arranged around the second support plate;

[0024] One end of the plurality of elastic members away from the first support plate is adapted to abut against a side of the driving support plate close to the first support plate.

[0025] Optionally, four guide shafts are provided, and the four guide shafts are arranged at four corners on the first support plate;

[0026] There are four guide bushings, and the four guide bushings are respectively arranged on the driving support plate corresponding to the four guide shafts.

[0027] Optionally, a limiting plate is fixed to one end of the guide shaft away from the first support plate, and the outer diameter of the limiting plate is larger than the inner diameter of the guide shaft sleeve.

[0028] Optionally, the above-mentioned omnidirectional motion chassis further includes an encoder, and the encoder is mounted on the driving support plate.

[0029] Optionally, the second support plate is a polyurethane plate.

[0030] An AGV device comprises a vehicle body and the above-mentioned omnidirectional motion chassis, wherein the vehicle body is arranged on the omnidirectional motion chassis.

[0031] The technical solution provided by the utility model has the following advantages:

[0032] 1. The utility model provides an omnidirectional motion chassis, comprising: a chassis body and a drive structure, wherein a plurality of drive structures and a plurality of universal wheels are provided at the bottom of the chassis body; the plurality of drive structures and the plurality of universal wheels are arranged at four corners of the bottom of the chassis body; the plurality of drive structures are arranged diagonally, and the plurality of universal wheels are arranged diagonally; the drive structure comprises: a pre-pressing mechanism and a drive mechanism; the bottom end of the pre-pressing mechanism is mounted on the top end of the drive mechanism, and the top end of the pre-pressing mechanism is mounted on the bottom of the chassis body; the pre-pressing mechanism has a pushing state that pushes the drive mechanism to move in a direction away from the chassis body so as to abut against the ground.

[0033] The pre-stressing mechanism of this structure will provide elastic pressure to the driving mechanism below, always pressing the driving mechanism downward against the ground or guide rail, so that the entire chassis body is still in a four-corner support state. Compared with the existing technology, it effectively prevents the situation where there is only three-point support in the case of overload, which causes transportation problems; it also reduces the bumps that occur during transportation. And under the elastic pressure of the elastic member, the driving wheel is always in contact with the ground or guide rail, and the positive pressure of the driving wheel can vary within a smaller range, ensuring that the friction between the driving wheel and the ground is within a certain range, preventing slipping, and the walking process is stable, safe and reliable. In addition, the two diagonally arranged driving mechanisms can provide greater power when the omnidirectional motion chassis moves. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 A bottom view of the omnidirectional motion chassis provided in the present invention;

[0036] Figure 2 This is a schematic structural diagram of the pre-pressing mechanism provided in the present utility model;

[0037] Figure 3 It is a front view of the driving mechanism provided in the utility model;

[0038] Figure 4 This is a schematic diagram of the structure of the driving mechanism provided in the utility model;

[0039] Description of reference numerals:

[0040] 1- Chassis body;

[0041] 2-Universal wheels;

[0042] 3 - driving structure; 31 - pre-pressing mechanism; 311 - first support plate; 312 - second support plate; 313 - elastic member; 314 - guide shaft; 315 - limit plate; 32 - driving mechanism; 321 - driving support plate; 322 - guide bushing; 323 - slewing support; 324 - driving wheel; 325 - first gear; 326 - driving member; 327 - reduction gearbox; 328 - transmission chain; 329 - second gear; 33 - encoder. DETAILED DESCRIPTION

[0043] The following is a clear and complete description of the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0044] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0045] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0046] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0047] Example 1

[0048] This embodiment provides an omnidirectional motion chassis, such as Figures 1 to 4 As shown, it includes a chassis body 1 and a drive structure 3.

[0049] The chassis body 1 is a rectangular plate. Two drive structures 3 and two universal wheels 2 are arranged at the bottom of the chassis body 1 in a rectangular quadrilateral arrangement. These two drive structures 3 and two universal wheels 2 are located at the four corners of the chassis body 1, with the two drive structures 3 located at two diagonally opposite corners, and the two universal wheels 2 located at the other two diagonally opposite corners.

[0050] The driving structure 3 includes a pre-pressing mechanism 31 and a driving structure 3. Figure 2As shown, the preload mechanism 31 includes a first support plate 311, a second support plate 312, an elastic member 313, and a guide shaft 314. The first support plate 311 is a rectangular plate. It can be fixed to the bottom of the chassis body 1 via two sides of the first support plate 311. Specifically, multiple mounting holes can be provided on each side of the first support plate 311 for fastening using screws or bolts. Alternatively, a mounting member can be provided, which is welded after being abutted against the bottom of the chassis body 1. The second support plate 312 is annular in shape, with its central axis passing through the center of the first support plate 311 and coinciding with it, thereby securing the second support plate 312 to the lower surface of the first support plate 311. The elastic member 313 is a spring. Several elastic members 313 are provided. Specifically, in this embodiment, seven elastic members 313 are provided. The seven elastic members 313 are arranged in a ring around the second support plate 312, centered about the central axis of the second support plate 312. The top of the elastic member 313 is fixed to the bottom surface of the first support plate 311. Four guide shafts 314 are provided and arranged at four corners on the first support plate 311. That is, the four guide shafts 314 are respectively fixed to the four corners of the bottom surface of the first support plate 311. The lower ends of the four guide shafts 314 are respectively fixed with a limit plate 315 by bolts.

[0051] like Figures 3 and 4As shown, the drive mechanism 32 includes a drive assembly, a drive support plate 321, a slewing support 323, and a drive wheel 324. The drive support plate 321 is a rectangular plate. Four guide sleeves 322 are installed at the four corners of the drive support plate 321, corresponding to the four guide shafts 314. The inner diameter of the inner hole of the guide sleeve 322 is equal to or slightly larger than the outer diameter of the guide shaft 314, and smaller than the outer diameter of the limit plate 315. The axial length of the four guide shafts 314 is greater than the axial length of their corresponding guide sleeves 322. During installation, the guide shaft 314 is inserted into the guide sleeve 322, and the limit plate 315 is fixed to the lower end of the guide shaft 314 to prevent the guide shaft 314 from falling out of the guide sleeve 322. A swivel support 323 is fixedly mounted on the lower surface of the guide sleeve 322, away from the first support plate 311. The swivel support 323 pivotally connects to a mounting bracket, away from the drive support plate 321, and is used to mount the drive wheel 324 and drive assembly. Specifically, the drive wheel 324 and drive assembly form a set, with each drive structure 3 comprising two sets. The drive wheels 324 are mounted on the left and right sides of the mounting bracket, respectively. The drive assemblies are symmetrically arranged on the front and rear sides of the mounting bracket, with the center of the mounting bracket as the center of rotation. A first gear 325 is coaxially mounted inside the drive wheel 324. The drive assembly includes a drive member 326, a reduction gear 327, and a conveyor chain 328. The drive member 326 is a rotary motor. Both the drive member 326 and the reduction gear 327 are fixed to the mounting bracket. The output end of the drive member 326 is connected to the input shaft of the reduction gear 327. A second gear 329 is coaxially mounted on the output shaft of the reduction gear 327. The conveyor chain 328 is mounted on the corresponding first and second gears 325 and 329.

[0052] A driving wheel 324 is provided on each side of the mounting frame. Compared with the prior art in which there is only one driving wheel 324 , the supporting force is stronger and the entire device is more stable.

[0053] like Figure 3 As shown, an encoder 33 is fixed above the driving support plate 321, and a through hole corresponding to the encoder 33 is opened on the first support plate 311 to accommodate the encoder 33 to prevent interference between the first support plate 311 and the encoder 33. The first encoder 33 is electrically connected to the two driving members 326.

[0054] When using an omnidirectional motion chassis, first secure the first support plate 311 of the preload mechanism 31 to the chassis body 1, and align the four guide shafts 314 with the corresponding four guide sleeves 322. A stopper 315 is bolted to the lower end of each of the four guide shafts 314, assembling the preload mechanism 31 and the drive mechanism 32 to form the drive structure 3. Under normal circumstances, when material is placed in the upper center of the chassis body 1, gravity compresses the elastic member 313, causing the guide shafts 314 to move downward along the inner wall of the guide sleeve 322. The second support plate 312 then moves toward the drive support plate 321, abutting against the upper surface of the drive support plate 321. The two drive structures 3 and the two universal wheels 2 jointly support the chassis body 1. The encoder 33 controls the activation of the two drive members 326. The output shafts of the drive members 326 rotate, and after speed control by the reduction gear 327, they drive the second gear 329. The second gear 329, via the transmission chain 328, drives the first gear 325, which in turn drives the two drive wheels 324. The four drive wheels 324 in the two drive structures 3 rotate simultaneously to drive the entire omnidirectional motion chassis. When steering is required, the encoder 33 controls the speeds of the two motors in the same drive structure 3 to different speeds, driving the two drive wheels 324 to rotate at different speeds. This, in turn, drives the entire mounting frame and the drive components mounted thereon to rotate, thereby changing the direction of the drive wheels 324 and achieving steering. When steering reaches the desired angle, the encoder 33 controls the four drive members 326 in the two drive structures 3 to rotate the drive wheels 324 at the same speed, driving the omnidirectional motion chassis to move linearly in the direction of the steering.

[0055] When an overload occurs, that is, the material is not correctly placed in the middle of the chassis body 1, since the two drive structures 3 are arranged diagonally, the center of the material will be biased toward one of the drive structures 3, and the elastic member 313 in the biased drive structure 3 will be compressed, causing the guide shaft 314 to move downward along the inner wall of the guide shaft sleeve 322, and the second support plate 312 to move toward the drive support plate 321. The second support plate 312 is in contact with the upper surface of the drive support plate 321. The pressure on the other drive structure 3 is smaller than that on the other drive structure 3, but due to the presence of the elastic member 313, the elastic member 313 will provide elastic pressure to the drive mechanism 32 below, always pressing the drive mechanism 32 downward against the ground or the guide rail, so that the entire chassis body 1 is still in a four-corner support state. Compared with the existing technology, this effectively prevents the situation where there is only three-point support in the case of overload, which causes transportation problems.

[0056] When traveling on a ground with a complex, uneven bottom surface, the elastic member 313, acting in accordance with the aforementioned principle, provides elastic pressure to the drive mechanism 32 below, constantly pressing the drive mechanism 32 downward against the ground or guide rails. This maintains the entire chassis body 1 in a four-corner supported state, reducing the likelihood of bumps during transportation. Furthermore, under the elastic pressure of the elastic member 313, the drive wheel 324 is constantly in contact with the ground or guide rails, and the positive pressure of the drive wheel 324 can vary within a relatively small range, ensuring that the friction between the drive wheel 324 and the ground remains within a certain range, preventing slippage and ensuring a stable, safe, and reliable travel process. Furthermore, the two diagonally arranged drive mechanisms 32 can provide greater power when the omnidirectional motion chassis is moving.

[0057] When the material load on the omnidirectional motion chassis is greater, the pressure distributed on the drive wheel 324 is also greater, so the drive mechanism 32 can also provide sufficient driving force when moving laterally or rotating in place, solving the problem of insufficient chassis driving force in the prior art.

[0058] By arranging multiple springs around the second support plate 312, the pressing force is increased while preventing the pressure failure of a single elastic member 313, reducing the number of maintenance times and ensuring the stability of the entire omnidirectional motion chassis.

[0059] In this embodiment, the second support plate 312 is a polyurethane plate, which has a certain strength while still having the elongation and resilience of rubber. During the movement of the omnidirectional motion chassis, the second support plate 312 will inevitably collide with the driving support plate 321. The second support plate 312 has excellent vibration absorption performance and can perform vibration reduction and buffering functions.

[0060] Example 2

[0061] This embodiment provides an AGV device, comprising: a vehicle body and the omnidirectional motion chassis described in Example 1, with the vehicle body secured to the omnidirectional motion chassis. The operating principle of the AGV device in this embodiment is as follows: an encoder 33 controls the activation of two drive elements 326. The output shafts of the drive elements 326 rotate, which, after speed control by a reduction gear 327, drives a second gear 329. The second gear 329, via a transmission chain 328, drives the first gear 325, which in turn drives two drive wheels 324. The four drive wheels 324 in the two drive structures 3 rotate simultaneously to move the entire AGV device. When steering is required, the encoder 33 controls the rotational speeds of the two motors in the same drive structure 3 to different speeds, driving the two drive wheels 324 to rotate at different speeds. This, in turn, drives the entire mounting frame and the drive assembly mounted thereon to rotate simultaneously, thereby changing the direction of the drive wheels 324 and achieving steering. When steering reaches the desired angle, the encoder 33 controls the four drive elements 326 in the two drive structures 3 to rotate the drive wheels 324 at the same speed, driving the AGV device to move linearly in the desired direction. The rapid delivery of goods is achieved. And because the AGV equipment in this embodiment includes the omnidirectional motion chassis in Example 1, it has all the beneficial effects thereof.

[0062] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. An omnidirectional motion chassis, characterized in that: include: A chassis body (1), wherein a plurality of drive structures (3) and a plurality of universal wheels (2) are provided at the bottom of the chassis body (1); the plurality of drive structures (3) and the plurality of universal wheels (2) are arranged at four corners at the bottom of the chassis body (1); the plurality of drive structures (3) are arranged diagonally, and the plurality of universal wheels (2) are arranged diagonally; The driving structure (3) comprises: a pre-pressing mechanism (31) and a driving mechanism (32); the bottom end of the pre-pressing mechanism (31) is mounted on the top end of the driving mechanism (32), and the top end of the pre-pressing mechanism (31) is mounted on the bottom of the chassis body (1); the pre-pressing mechanism (31) has a pushing state for pushing the driving mechanism (32) to move in a direction away from the chassis body (1) so as to abut against the ground.

2. The omnidirectional motion chassis according to claim 1, characterized in that: The pre-pressing mechanism (31) comprises: a first support plate (311), the first support plate (311) being suitable for being mounted on the bottom of the chassis body (1); a second support plate (312), the second support plate (312) being adapted to be mounted on the bottom of the first support plate (311); an elastic member (313), one end of the elastic member (313) being connected to the first support plate (311), and the other end being suitable for being mounted on the driving mechanism (32); A guide shaft (314), one end of which is fixed on the first support plate (311).

3. The omnidirectional motion chassis according to claim 2, characterized in that: The driving mechanism (32) comprises: A driving support plate (321), wherein a guide sleeve (322) is provided on the driving support plate (321) corresponding to the guide shaft (314), and the guide shaft (314) can be inserted into the guide sleeve (322); a rotary support (323), the rotary support (323) being mounted on a side of the driving support plate (321) away from the first support plate (311); a mounting frame being provided on the side of the rotary support (323) away from the driving support plate (321); A driving wheel (324), wherein two driving wheels (324) are provided, and the two driving wheels (324) are respectively arranged on both sides of the mounting frame; Wherein, two drive assemblies are mounted on the mounting frame corresponding to the two drive wheels (324), and the drive assemblies are used to drive the drive wheels (324) to rotate.

4. The omnidirectional motion chassis according to claim 3, characterized in that: A first gear (325) is coaxially provided on the inner side of the driving wheel (324); The drive assembly includes: a driving member (326), wherein the driving member (326) is disposed on the mounting frame; A reduction box (327), the reduction box (327) being mounted on the mounting frame, one end of the reduction box (327) being connected to the output end of the driving member (326), and the other end being connected to a second gear (329); A conveying chain (328), wherein the conveying chain (328) is sleeved on the first gear (325) and the corresponding second gear (329).

5. The omnidirectional motion chassis according to claim 4, characterized in that: A plurality of elastic members (313) are provided, and the plurality of elastic members (313) are arranged around the second support plate (312); One end of the plurality of elastic members (313) away from the first support plate (311) is adapted to abut against a side of the driving support plate (321) close to the first support plate (311).

6. The omnidirectional motion chassis according to claim 4, characterized in that: Four guide shafts (314) are provided, and the four guide shafts (314) are arranged at four corners on the first support plate (311); Four guide shaft sleeves (322) are provided, and the four guide shaft sleeves (322) are respectively provided on the driving support plate (321) corresponding to the four guide shafts (314).

7. The omnidirectional motion chassis according to claim 4, characterized in that: A limiting piece (315) is fixed to one end of the guide shaft (314) away from the first support plate (311), and the outer diameter of the limiting piece (315) is larger than the inner diameter of the guide shaft sleeve (322).

8. The omnidirectional motion chassis according to claim 7, characterized in that: The omnidirectional motion chassis further comprises an encoder (33), and the encoder (33) is mounted on the driving support plate (321).

9. The omnidirectional motion chassis according to claim 7, characterized in that: The second support plate (312) is a polyurethane plate.

10. An AGV device, characterized in that: The invention comprises a vehicle body and the omnidirectional motion chassis according to any one of claims 1 to 9, wherein the vehicle body is arranged on the omnidirectional motion chassis.

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